Nonetheless, since *GPGPU is typically not very energy-efficient, most adaptations of the *SGM algorithm for embedded systems were done for the FPGA architecture.
To mention a few, [1]} developed an FPGA based stereo vision sensor running with 120 fps at an image resolution of 320\(\times \) 240 pixels with the *SGM algorithm.
[2]} deployed the SGM algorithm on an Xilinx Zynq 7000 FPGA, achieving 32 fps on an image of 1280\(\times \) 720 pixels.
Even frame rates of up to 197 fps can be achieved at a similar frame size depending on the performance of the FPGA, as [3]} shows.
